Skip to content

Commit baa62e3

Browse files
juanscelygjuanscelyg
committed
Documentation was corrected
1 parent 5e8eaaa commit baa62e3

5 files changed

Lines changed: 0 additions & 71 deletions

File tree

‎.github/workflows/rolling.yaml‎

Lines changed: 0 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -14,11 +14,7 @@ jobs:
1414
image: ubuntu:noble
1515
steps:
1616
- name: Repo checkout
17-
<<<<<<< HEAD
18-
uses: actions/checkout@v4
19-
=======
2017
uses: actions/checkout@v6-beta
21-
>>>>>>> juanscelyg/rolling
2218
with:
2319
ref: rolling
2420
- name: Setup ROS 2

‎README.md‎

Lines changed: 0 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -4,12 +4,9 @@
44
[![rolling](https://github.com/EasyNavigation/easynav_plugins/actions/workflows/rolling.yaml/badge.svg?branch=rolling)](https://github.com/EasyNavigation/easynav_plugins/actions/workflows/rolling.yaml)
55
[![kilted](https://github.com/EasyNavigation/easynav_plugins/actions/workflows/kilted.yaml/badge.svg?branch=kilted)](https://github.com/EasyNavigation/easynav_plugins/actions/workflows/kilted.yaml)
66
[![jazzy](https://github.com/EasyNavigation/easynav_plugins/actions/workflows/jazzy.yaml/badge.svg?branch=jazzy)](https://github.com/EasyNavigation/easynav_plugins/actions/workflows/jazzy.yaml)
7-
<<<<<<< HEAD
8-
=======
97
[![humble](https://github.com/EasyNavigation/easynav_plugins/actions/workflows/humble.yaml/badge.svg?branch=humble)](https://github.com/EasyNavigation/easynav_plugins/actions/workflows/humble.yaml)
108

119
📋 Roadmap Project: [RoadMap](https://github.com/EasyNavigation/EasyNavigation/blob/rolling/ROADMAP.md)
12-
>>>>>>> juanscelyg/rolling
1310

1411
## Description
1512

‎controllers/easynav_mppi_controller/README.md‎

Lines changed: 0 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1,11 +1,7 @@
11
# easynav_mppi_controller
22

3-
<<<<<<< HEAD
43
[![ROS 2: kilted](https://img.shields.io/badge/ROS%202-kilted-blue)](#) [![ROS 2: rolling](https://img.shields.io/badge/ROS%202-rolling-blue)](#) [![ROS 2: jazzy](https://img.shields.io/badge/ROS%202-jazzy-blue)](#)
54

6-
7-
=======
8-
>>>>>>> juanscelyg/rolling
95
## Description
106

117
A Model Predictive Path Integral (MPPI) controller implementation for Easy Navigation.

‎controllers/easynav_serest_controller/README.md‎

Lines changed: 0 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1,11 +1,8 @@
11
# easynav_serest_controller
22

3-
<<<<<<< HEAD
43
[![ROS 2: kilted](https://img.shields.io/badge/ROS%202-kilted-blue)](#) [![ROS 2: rolling](https://img.shields.io/badge/ROS%202-rolling-blue)](#) [![ROS 2: jazzy](https://img.shields.io/badge/ROS%202-jazzy-blue)](#)
54

65

7-
=======
8-
>>>>>>> juanscelyg/rolling
96
## Description
107

118
A SeReST (Smooth Error-Responsive Speed and Turning) controller for path tracking.
@@ -19,11 +16,8 @@ A SeReST (Smooth Error-Responsive Speed and Turning) controller for path trackin
1916

2017
| Distribution | Status |
2118
|---|---:|
22-
<<<<<<< HEAD
23-
=======
2419
| humble | ![kilted](https://img.shields.io/badge/humble-supported-brightgreen) |
2520
| jazzy | ![jazzy](https://img.shields.io/badge/jazzy-supported-brightgreen) |
26-
>>>>>>> juanscelyg/rolling
2721
| kilted | ![kilted](https://img.shields.io/badge/kilted-supported-brightgreen) |
2822
| rolling | ![rolling](https://img.shields.io/badge/rolling-supported-brightgreen) |
2923
| jazzy | ![jazzy](https://img.shields.io/badge/jazzy-supported-brightgreen) |

‎controllers/easynav_simple_controller/README.md‎

Lines changed: 0 additions & 54 deletions
Original file line numberDiff line numberDiff line change
@@ -1,14 +1,8 @@
11
# easynav_simple_controller
2-
<<<<<<< HEAD
32

43
[![ROS 2: kilted](https://img.shields.io/badge/ROS%202-kilted-blue)](#) [![ROS 2: rolling](https://img.shields.io/badge/ROS%202-rolling-blue)](#) [![ROS 2: jazzy](https://img.shields.io/badge/ROS%202-jazzy-blue)](#)
54

65
## Description
7-
=======
8-
9-
## Description
10-
11-
>>>>>>> juanscelyg/rolling
126
Simple path-following controller that uses PID controllers and a look-ahead reference pose to follow a planned path. It produces velocity commands (`cmd_vel`) based on the reference pose sampled at a look-ahead distance and limits linear/angular speeds and accelerations.
137

148
## Authors and Maintainers
@@ -20,47 +14,20 @@ Simple path-following controller that uses PID controllers and a look-ahead refe
2014

2115
| Distribution | Status |
2216
|---|---:|
23-
<<<<<<< HEAD
24-
=======
2517
| humble | ![kilted](https://img.shields.io/badge/humble-supported-brightgreen) |
2618
| jazzy | ![kilted](https://img.shields.io/badge/jazzy-supported-brightgreen) |
27-
>>>>>>> juanscelyg/rolling
2819
| kilted | ![kilted](https://img.shields.io/badge/kilted-supported-brightgreen) |
2920
| rolling | ![rolling](https://img.shields.io/badge/rolling-supported-brightgreen) |
3021
| jazzy | ![jazzy](https://img.shields.io/badge/jazzy-supported-brightgreen) |
3122

3223
## Plugin (pluginlib)
33-
<<<<<<< HEAD
34-
=======
35-
36-
>>>>>>> juanscelyg/rolling
3724
- **Plugin Name:** `easynav_simple_controller/SimpleController`
3825
- **Type:** `easynav::SimpleController`
3926
- **Base Class:** `easynav::ControllerMethodBase`
4027
- **Library:** `easynav_simple_controller`
4128
- **Description:** Path-following controller using PID (linear and angular) and a look-ahead strategy.
4229

4330
## Parameters
44-
<<<<<<< HEAD
45-
All parameters are declared under the plugin namespace, i.e., `/<node_fqn>/easynav_simple_controller/SimpleController/...`.
46-
47-
| Name | Type | Default | Description |
48-
|---|---|---:|---|
49-
| `max_linear_speed` | `double` | `1.0` | Maximum linear speed (m/s).
50-
| `max_angular_speed` | `double` | `1.0` | Maximum angular speed (rad/s).
51-
| `max_linear_acc` | `double` | `0.3` | Maximum linear acceleration (m/s²).
52-
| `max_angular_acc` | `double` | `0.3` | Maximum angular acceleration (rad/s²).
53-
| `look_ahead_dist` | `double` | `1.0` | Look-ahead distance to sample the reference pose on the path (m).
54-
| `tolerance_dist` | `double` | `0.05` | Distance threshold to switch to pure orientation tracking (m).
55-
| `final_goal_angle_tolerance` | `double` | `0.1` | Angular tolerance (rad) used to decide final-goal arrival.
56-
| `k_rot` | `double` | `0.5` | Gain used to reduce linear speed based on angular velocity (higher: stronger reduction while turning).
57-
| `linear_kp` | `double` | `0.95` | Proportional gain for the linear PID controller.
58-
| `linear_ki` | `double` | `0.03` | Integral gain for the linear PID controller.
59-
| `linear_kd` | `double` | `0.08` | Derivative gain for the linear PID controller.
60-
| `angular_kp` | `double` | `1.5` | Proportional gain for the angular PID controller.
61-
| `angular_ki` | `double` | `0.03` | Integral gain for the angular PID controller.
62-
| `angular_kd` | `double` | `0.08` | Derivative gain for the angular PID controller.
63-
=======
6431

6532
All parameters are declared under the plugin namespace, i.e., `/<node_fqn>/easynav_simple_controller/SimpleController/...`.
6633

@@ -83,30 +50,10 @@ All parameters are declared under the plugin namespace, i.e., `/<node_fqn>/easyn
8350
| `angular_kp` | `double` | `1.5` | Proportional gain for the angular PID controller. |
8451
| `angular_ki` | `double` | `0.03` | Integral gain for the angular PID controller. |
8552
| `angular_kd` | `double` | `0.08` | Derivative gain for the angular PID controller. |
86-
>>>>>>> juanscelyg/rolling
8753

8854
## Interfaces (NavState, Topics and Services)
8955

9056
### NavState
91-
<<<<<<< HEAD
92-
This controller uses the shared `NavState` bag provided by the `easynav_core` framework. The following keys are used at runtime by `SimpleController`:
93-
94-
| Key | Type | Access | Notes |
95-
|---|---|---|---|
96-
| `robot_pose` | `nav_msgs::msg::Odometry` | **Read** | Current robot odometry used to compute the robot pose and yaw.
97-
| `path` | `nav_msgs::msg::Path` | **Read** | Planned path to follow. The controller samples a reference pose at `look_ahead_dist` along this path.
98-
| `cmd_vel` | `geometry_msgs::msg::TwistStamped` | **Write** | Output velocity command. Header.frame_id is set to `path.header.frame_id` when available and stamp to the controller node clock.
99-
100-
### Topics / Services
101-
The controller itself does not create ROS publishers/subscribers or service servers. It interacts via the `NavState` abstraction; how `NavState` is exposed (topics or other IPC mechanisms) depends on the integrating node.
102-
103-
104-
## TF Frames
105-
This controller reads pose from `nav_msgs/Odometry` (NavState key `robot_pose`). TF is not directly used in this plugin.
106-
107-
## License
108-
GPL-3.0-only
109-
=======
11057

11158
This controller uses the shared `NavState` bag provided by the `easynav_core` framework. The following keys are used at runtime by `SimpleController`:
11259

@@ -127,4 +74,3 @@ This controller reads pose from `nav_msgs/Odometry` (NavState key `robot_pose`).
12774
## License
12875

12976
GPL-3.0-only
130-
>>>>>>> juanscelyg/rolling

0 commit comments

Comments
 (0)